neu-underwater-robotics

Repo for the Northeastern underwater robotics team.

For setting up this repo for the first time, please see the software setup guide

For best practices for software development, please see the best practices guide

For best Git Practices, please see so you want to git

Software Overview:

To be updated

We currently use a sockets based system to achieve two-way communication with a raspberry pi. On the surface, a USB controller is used to generate a 6-way velocity vector (x, y, z, yaw, pitch, roll) wich is sent to the ROV. We use a standard right-hand coordinate system, with the ROV's heading along +y. See more in the defintion of VelocityVector The ROV then translates that to the appropriate thruster control values with a PID controller (work in progress).

Running instructions

ROV:

• ssh into the ROV's RaspberryPi: ssh pi@192.168.0.102
• navigate to neu-underwater-robotics: cd ~/neu-underwater-robotics
• run python -m pi.async_server

On surface laptop:

• setup environment described in software_setup.md
• navigate to the neu-underwater-robotics directory (this directory)
• activate venv if using (source ./activate.sh)
• run python -m surface/surface_client
• for how to run the surface's gui app, read this.

Testing on local machine

• setup environment described in software_setup.md
• navigate to the neu-underwater-robotics directory (this directory)
• activate venv if using (source ./activate.sh)
• set environment variable SIM: export SIM='TRUE'
• run server first python -m pi.async_server
• open a new terminal, and navigate to neu-underwater-robotics, activate venv if using
• run client second python -m surface.surface_client